nodes:
  - id: piper
    path: replay.py
    inputs:
      tick: dora/timer/millis/20
    outputs:
      - jointstate_left
      - jointstate_right
      - mobile_base

  - id: rerun
    build: wget
    path: dora-rerun
    inputs:
      jointstate_piper_left: piper_left/jointstate
      jointstate_piper_right: piper_right/jointstate
      jointstate_piper_left_pred: piper/jointstate_left
      jointstate_piper_right_pred: piper/jointstate_right
      series_piper_left: piper_left/jointstate
      series_piper_right: piper_right/jointstate
      series_piper_left_pred: piper/jointstate_left
      series_piper_right_pred: piper/jointstate_right
    env:
      piper_left_urdf: piper_left.urdf
      piper_right_urdf: piper_right.urdf
      piper_left_transform: 0 0.2 0
      piper_right_transform: 0 -0.2 0
      piper_left_pred_urdf: piper_left_pred.urdf
      piper_right_pred_urdf: piper_right_pred.urdf
      piper_left_pred_transform: 0 0.2 0
      piper_right_pred_transform: 0 -0.2 0

  - id: piper_left
    path: /home/agilex/1ms.ai/piper_sdk/dora_piper.py
    _unstable_deploy:
      machine: piper
    inputs:
      tick: dora/timer/millis/500
      action: piper/jointstate_left
    outputs:
      - jointstate
    env:
      CAN_BUS: can_left

  - id: piper_right
    path: /home/agilex/1ms.ai/piper_sdk/dora_piper.py
    _unstable_deploy:
      machine: piper
    inputs:
      tick: dora/timer/millis/1000
      action: piper/jointstate_right
    outputs:
      - jointstate
    env:
      CAN_BUS: can_right
